무인잠수정 선단을 지원하는 무인수상선의 개발

Abstract

This paper describes an USV (Umanned Surface Vehicle) developed to support the AUVs (Autonomous Underwater Vehicles) fleet. The USV has designed to work as a master vehicle in the AUVs fleet and as a gateway of the network between the fleet. The catamaran-hull is adopted to improve the motion stability and position-keeping ability. In order to identify her position, she is equipped with GPS and an LBL (Longbase Line) transceiver which includes the data communication function. A radio frequency modem and a wireless LAN modem are installed for the data communication with mothership. The onboard PC and control software enables the automatic position keeping. In this paper, the concept of AUVs fleet including USV is introduced, and then the development of the USV and sea-trials are presented.